去掉飞行时间，飞行距离，姿态计算和更新，提高效率

碰撞检测改为异步提示,检测间隔缩小为50ms
修改任务无法停止的bug
不多次发送目标航点
地图上选中变为红色
地图中间加入十字标记，用于精确确定添加飞机位置

Plane.FormationCreator/Formation/FlightTaskManager.cs

@@ -449,6 +449,10 @@ namespace Plane.FormationCreator.Formation
         public async void ResetTasks()
         {
             var copters = _copterManager.Copters;
+
+            if (TaskState == TasksStatus.Running)
+            {
+
                 Pause();
                 //等待暂停或2s超时(80*25ms)
                 int k = 0;
@@ -457,7 +461,7 @@ namespace Plane.FormationCreator.Formation
                     await Task.Delay(25).ConfigureAwait(false);
                     k++;
                 }
-
+            }
 
             CurrentRunningTaskIndex = 0;
             if (CurrentRunningTask != null)
@@ -1954,11 +1958,41 @@ namespace Plane.FormationCreator.Formation
 
         #endregion Run and pause.
 
+
+        Dictionary<int, string> AvoidCrashLog = new Dictionary<int, string >();
+ 
+
+
+
+
         private async void StartAvoidingCrash()
         {
+            await Task.Factory.StartNew(AvoidCrashtoshow);
             await Task.Factory.StartNew(LoopToAvoidCrash);
         }
-
+        private async void AvoidCrashtoshow()
+        {
+            while (IsPaused == false)
+            {
+                try
+                {
+                    foreach (KeyValuePair<int, string> kv in AvoidCrashLog)
+                    {
+                        string moveCopterNum = kv.Value;
+                        int destNum = kv.Key;
+                        Message.Show(moveCopterNum);
+                    }
+                    AvoidCrashLog.Clear();
+                }
+                catch   // 林俊清, 20151102, 通常是“集合已修改”异常。
+                {
+                }
+                finally
+                {
+                    await Task.Delay(100).ConfigureAwait(false);
+                }
+            }
+        }
         private async void LoopToAvoidCrash()
         {
             while (IsPaused == false)
@@ -1977,7 +2011,9 @@ namespace Plane.FormationCreator.Formation
                             {
                                 if (copter != anotherCopter && copter.IsTooCloseTo(anotherCopter, out distance))
                                 {
-                                    Message.Show($"{copter.Name} 与 {anotherCopter.Name} 距离过近，间距{distance}米。");
+                                    //防止卡顿
+                                    AvoidCrashLog.Add(1, $"{copter.Name} 与 {anotherCopter.Name} 距离过近，间距{distance}米。");
+                                   // Message.Show($"{copter.Name} 与 {anotherCopter.Name} 距离过近，间距{distance}米。");
                                 }
                             }
                         }
@@ -1989,7 +2025,7 @@ namespace Plane.FormationCreator.Formation
                 }
                 finally
                 {
-                    await Task.Delay(100).ConfigureAwait(false);
+                    await Task.Delay(50).ConfigureAwait(false);
                 }
             }
         }

Plane.FormationCreator/Formation/FlightTask_FlyTo.cs

@@ -163,7 +163,7 @@ namespace Plane.FormationCreator.Formation
            //发送目标航点1次
          
            await info.Copter.FlyToAsync(targetLat, targetLng, info.TargetAlt);
-            await Task.Delay(10).ConfigureAwait(false);
+      //      await Task.Delay(10).ConfigureAwait(false);
 
             dtNow = DateTime.Now;
             ts = dtNow - dtLastTime;
@@ -233,7 +233,7 @@ namespace Plane.FormationCreator.Formation
                 }
 
 
-
+                /*
                 if (ts.TotalMilliseconds / 10 > sendFlyToTimes)   // 每500ms发送一遍指点坐标
                 {
                     sendFlyToTimes++;
@@ -245,6 +245,7 @@ namespace Plane.FormationCreator.Formation
 
                     //dtLastTime = dtNow;
                 }
+                */
                 // 当该飞机被标记时，悬停并跳过飞行任务
                 if ((bool)_copterManager.CopterStatus[copterIndex])
                 {

Plane.FormationCreator/Formation/FlightTask_TakeOff.cs

@@ -128,11 +128,11 @@ namespace Plane.FormationCreator.Formation
             info.TargetLat = info.Copter.Latitude;
             info.TargetLng = info.Copter.Longitude;
 
-            for (int j = 0; j < 3; j++)
+          //  for (int j = 0; j < 3; j++)
-            {
+          //  {
                 await info.Copter.FlyToAsync(info.TargetLat, info.TargetLng, takeOffAlt);
-                await Task.Delay(10).ConfigureAwait(false);
+             //   await Task.Delay(10).ConfigureAwait(false);
-            }
+           // }
             //解锁起飞用暗紫色
             info.Copter.LEDColor = "FF00FF";
 

Plane.FormationCreator/ViewModels/CopterListViewModel.cs

@@ -229,7 +229,7 @@ namespace Plane.FormationCreator.ViewModels
 
                    
 
-                    LatLng? colLatLng = new LatLng(center.Lat, center.Lng); ;
+                    LatLng? colLatLng = new LatLng(center.Lat, center.Lng);
 
                     for (int i = 0; i < addcount; ++i, ++_virtualCopterId)
                     {

Plane.FormationCreator/Views/MapView.xaml.cs

@@ -50,7 +50,7 @@ namespace Plane.FormationCreator.Views
             gmap.MinZoom = 2;  //最小缩放
             gmap.MaxZoom = 30; //最大缩放
             gmap.Zoom = 19;     //当前缩放
-            gmap.ShowCenter = false; //不显示中心十字点
+            gmap.ShowCenter = true; //不显示中心十字点
             gmap.DragButton = MouseButton.Middle; //左键拖拽地图
             gmap.Position = new LatLng(40.07734857737275, 116.34323845862502).ToGCJ02();
 
@@ -60,6 +60,7 @@ namespace Plane.FormationCreator.Views
             _flightTaskManager.TaskAdded += FlightTaskManager_TaskAdded;
             _flightTaskManager.OnOriginalSet += FlightTaskManager_SetOriginal;
 
+            /*
             Task.Factory.StartNew(async () =>
             {
                 int delay = 500;
@@ -73,7 +74,7 @@ namespace Plane.FormationCreator.Views
                     await Task.Delay(delay);
                 }
             });
-
+            */
             _copterManager.SelectedCoptersChanged += (sender, e) =>
             {
                 //if (AppEx.Instance.CurrentMode.IsForTasks())

Plane.FormationCreator/Views/MapView_CopterDrawing.cs

@@ -64,7 +64,7 @@ namespace Plane.FormationCreator.Views
                 selectMarkup.Height = 7;
                 selectMarkup.HorizontalAlignment = HorizontalAlignment.Left;
                 selectMarkup.VerticalAlignment = VerticalAlignment.Top;
-                selectMarkup.Fill = new SolidColorBrush(Colors.Black);
+                selectMarkup.Fill = new SolidColorBrush(Colors.Red); //选中做红色标记
             }
 
             Rectangle selectMarkup = new Rectangle();